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ManufacturerZEALS Co., Ltd. / 株式会社ZEALSRobot model · No. 1

D1

Humanoid Robots

CommercialJapan

Key fact4.32 km/h. km/h · 7-DOF full torque control

Model details

Model specifications

Walking Speed4.32 km/h. km/h

Arm Control7-DOF full torque control

Arm DOF7 × 2

Arm Reach / Length615 mm shoulder-to-wrist

AvailabilityCommercial available from : August 5, 2026

Base Dimensions≈555 × 480 mm

Battery48 V, 56 Ah

ChargingAutomatic + manual

Charging StationIncluded

Charging Time≈4–5 hours to 80%

Circuit BreakerYes

ColorWhite / light grey / black in official D1 presentation

ConnectivityWi-Fi 2.4 / 5 GHz; USB 3.0; Ethernet; HDMI

ControllerNVIDIA Jetson

CPU/GPUNVIDIA Jetson;

Degrees of Freedom21+ DOF

Depth Cameras2 – head + mobile base

Drawer BoxAvailable, with ramp

Drive System6 wheels: 2 differential-drive + 4 passive wheels

Emergency StopYes

Fisheye RGB Cameras2 – front + rear

Gripper DOF1 × 2

Height1,293–1,593 mm adjustable

Input Power100–240 V AC

InterfacesUSB 3.0 / Ethernet / HDMI

Joint BrakesYes

Joint Torque SensorsYes – all 7 arm joints

LiDAR2 × LiDAR on mobile base

LLM integrationYes — conversational

Main marketHealthcare; Elder Care; Hospitality; Retail/Commercial Facilities; Manufacturing; Logistics

ManufacturerZEALS Co., Ltd. / Omakase Robotics

Maximum Speed≈1.2 m/s

MicrophoneDirectional microphone

Minimum Passage Width≈650 mm

Mobile Base DOF2

Motor techElectrically actuated dual arms with 7-DOF full torque control,

NationalityJapanese

Neck DOF2

Normal Operating Runtime8 hours

Number of fingers0 conventional articulated fingers publicly specified

Operating Humidity0–70% RH

Operating systemUbuntu 22.04

Operating SystemUbuntu 22.04

Operating Temperature0–40°C

Positioning Accuracy±5 cm

Rated Payload5 kg per arm

Safe with humansDesigned for human-shared environments

SDKBy consultation

Speaker5 W

Total RGB Cameras4

Total Weight110 kg

Ultrasonic Sensors3

Vertical Lift DOF1

Vertical Lift Stroke300 mm

Websitehttps://omakaserobotics.ai/#full-specs

Wi-Fi2.4 / 5 GHz

Wide-Angle RGB Cameras2 – left + right wrists

About the D1

Japanese compact wheeled humanoid/mobile manipulator with dual 7-DOF torque-controlled arms, adjustable 129.3–159.3 cm height, autonomous AMR navigation and Omakase OS for healthcare, hospitality, logistics and industrial assistance.

Typical applications: Healthcare.

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